I am new to control theory, since it was not taught in CS curriculum. Other than reading Maxwell's On Governors and Norbert Wiener to get a sense of the history

I am new to control theory, since it was not taught in CS curriculum. Other than reading Maxwell's On Governors and Norbert Wiener to get a sense of the history, there is a lot to explore. I have recently been working with ControlSystems.jl in Julia, and can recommend it as a rather intuitive modeling toolkit. Control math can get involved, but there is no reason why the programming should be. There is a package for discrete PIDs, but also for more advanced analyses noted by other commenters. https://juliacontrol.github.io/ControlSystems.jl/stable/ https://juliacontrol.github.io/ControlSystems.jl/stable/